DOE Patents title logo U.S. Department of Energy
Office of Scientific and Technical Information

Title: Coordinated joint motion control system with position error correction

Abstract

Disclosed are an articulated hydraulic machine supporting, control system and control method for same. The articulated hydraulic machine has an end effector for performing useful work. The control system is capable of controlling the end effector for automated movement along a preselected trajectory. The control system has a position error correction system to correct discrepancies between an actual end effector trajectory and a desired end effector trajectory. The correction system can employ one or more absolute position signals provided by one or more acceleration sensors supported by one or more movable machine elements. Good trajectory positioning and repeatability can be obtained. A two joystick controller system is enabled, which can in some cases facilitate the operator's task and enhance their work quality and productivity.

Inventors:
Issue Date:
Research Org.:
Board of Regents of the Nevada System of Higher Education, on behalf of the University of Nevada, Reno, NV (United States)
Sponsoring Org.:
USDOE
OSTI Identifier:
1245438
Patent Number(s):
9304501
Application Number:
14/798,254
Assignee:
Board of Regents of the Nevada System of Higher Education, on behalf of the University of Nevada, Reno (Reno, NV)
Patent Classifications (CPCs):
E - FIXED CONSTRUCTIONS E02 - HYDRAULIC ENGINEERING E02F - DREDGING
G - PHYSICS G05 - CONTROLLING G05B - CONTROL OR REGULATING SYSTEMS IN GENERAL
DOE Contract Number:  
FC26-04NT42087
Resource Type:
Patent
Resource Relation:
Patent File Date: 2015 Jul 13
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING; 97 MATHEMATICS AND COMPUTING

Citation Formats

Danko, George L. Coordinated joint motion control system with position error correction. United States: N. p., 2016. Web.
Danko, George L. Coordinated joint motion control system with position error correction. United States.
Danko, George L. Tue . "Coordinated joint motion control system with position error correction". United States. https://www.osti.gov/servlets/purl/1245438.
@article{osti_1245438,
title = {Coordinated joint motion control system with position error correction},
author = {Danko, George L.},
abstractNote = {Disclosed are an articulated hydraulic machine supporting, control system and control method for same. The articulated hydraulic machine has an end effector for performing useful work. The control system is capable of controlling the end effector for automated movement along a preselected trajectory. The control system has a position error correction system to correct discrepancies between an actual end effector trajectory and a desired end effector trajectory. The correction system can employ one or more absolute position signals provided by one or more acceleration sensors supported by one or more movable machine elements. Good trajectory positioning and repeatability can be obtained. A two joystick controller system is enabled, which can in some cases facilitate the operator's task and enhance their work quality and productivity.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {2016},
month = {4}
}

Works referenced in this record:

An Architecture for Autonomy
journal, April 1998


Model-Based Three-Dimensional Interpretations of Two-Dimensional Images
journal, March 1983


Experimental implementation of complex path tracking control for large robotic hydraulic excavators
journal, January 2004


Mining machine control in virtual working kinematics
journal, September 2013


System and periodic disturbance identification for feedforward-feedback control of flexible spacecraft
conference, February 2013


Proportional‐Integral‐Plus Control of an Intelligent Excavator
journal, December 2003


Digging control system for hydraulic excavator
journal, September 2001


A study of the interaction between operator style and machine capability for a hydraulic mining excavator
journal, May 2005


Modelling, analysis and preliminary studies for automatic scooping
journal, January 1993


Fundamental Analysis of Automatic Excavation
journal, October 1995


Identification of system, observer, and controller from closed-loop experimental data
journal, January 1994


A New Approach to Linear Filtering and Prediction Problems
journal, March 1960


Control of a heavy-duty robotic excavator using time delay control with switching action with integral sliding surface
conference, January 2001


Fast and globally convergent pose estimation from video images
journal, June 2000


Improvement of Observer/Kalman Filter Identification (OKID) by Residual Whitening
journal, April 1995


A concept of digital control system to assist the operator of hydraulic excavators
journal, July 1998


Marker detection and trajectory generation algorithms for a multicamera based gait analysis system
journal, June 2001


Task Planning For Robotic Excavation
conference, January 1992


Bucket trajectory classification of mining excavators
journal, May 2013


High performance swing velocity tracking control of hydraulic excavators
conference, January 1998

  • Bin Yao, ; Koehler, D.
  • Proceedings of the 1998 American Control Conference (ACC), Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)
  • https://doi.org/10.1109/ACC.1998.703522

Servo-controlled mobility device
patent, May 1979


Servo-controlled mobility device
patent, January 1981


Methods for refining original robot command signals
patent, August 1988


Control method and unit for controlling a manipulator
patent, September 1988


Multiaxis robot control having curve fitted path control
patent, September 1988


Apparatus and method for controlling a hydraulic excavator
patent, May 1989


Control device for a power shovel
patent, December 1989


Machine vision system for position sensing
patent, January 1990


Manipulator arm position sensing
patent, January 1990


Industrial robot with servo
patent, November 1990


Motion controller for redundant or nonredundant linkages
patent, December 1990


Hydraulic control system
patent, November 1991


Industrial robot with servo
patent, October 1992


Coordinated control for a work implement
patent, November 1992


Proportional hydraulic control
patent, December 1992


Method of compliance control of a manipulator
patent, April 1993


Work automation apparatus for hydraulic drive machines
patent, June 1993


Method for controlling a hydraulic excavator
patent, November 1994


Method and apparatus for determining the location of a work implement
patent, April 1995


Excavation controlling apparatus for dipper shovel
patent, April 1995


Method of selecting automatic operation mode of working machine
patent, September 1995


Industrial robot with servo
patent, December 1996


Decoupled six degree-of-freedom robot manipulator
patent, January 1998


Decoupled six degree-of-freedom teleoperated robot system
patent, July 1998


Link mechanism analyzer and link mechanism joint data arithmetic apparatus
patent, November 1998


Method for controlling an excavator
patent, December 1998


Front control system for construction machine
patent, October 1999


Method and system for controlling movement of a digging dipper
patent, February 2000


Adaptable controller for work vehicle attachments
patent, May 2000


Method and apparatus for controlling a work implement
patent, October 2000


Vehicle control apparatus and method
patent, November 2000


Electronic control for a two-axis work implement
patent, May 2001


Automatically operated shovel
patent, November 2001


Automatic backhoe tool orientation control
patent, August 2003


Blade control apparatuses and methods for an earth-moving machine
patent, December 2003


Laser reference system for excavating machine
patent, February 2004


Robot controller
patent, November 2004


Input device for commanding control operations of a real and virtual object
patent, May 2005


System for changing function of work machine and base station
patent, May 2005


Operator interface for a work machine
patent, March 2006


Adaptive position determining system for hydraulic cylinder
patent, October 2006


Method and device for controlling movements in the case of manipulators
patent, November 2007


Automated control of boom or attachment for work vehicle to a preset position
patent, September 2010


Method for optimizing a robot program and a robot system
patent, December 2010


Linkage control system with position estimator backup
patent, November 2012


Control system for a machine
patent, September 2013


Inverse kinematics
patent, February 2015